JP6847974B2 - Aircraft shell and body and aircraft - Google Patents

Description

The present invention relates to an aircraft (eg, an unmanned aerial vehicle) and its main body and outer shell for the main body.

Aircraft are becoming more and more widely involved in various socialization or industrialization activities. Providing aircraft with more flexible and convenient designs is one of the current important research directions.

In one embodiment, the outer shell of the aircraft has a cavity having at least a space for accommodating the main body member of the aircraft and an outer surface surrounding the cavity and limited by a closed envelope.

Preferably, the envelope surface in the embodiment has a smooth curved surface shape. For example, the smooth curved surface shape is ellipsoidal, and the long axis of the ellipsoid overlaps with the center of gravity axis of the aircraft. Further, for example, the envelope surface has a multi-faceted shape, and at least one of the multi-faceted shapes is a curved surface, or at least one of the multi-faceted shapes. The surface is flat.

Preferably, the outer surface of the embodiment is further formed with a first opening for deploying and accommodating the mechanical arm of the aircraft with respect to the outer shell. On the one hand, the plurality of first openings are distributed at equal angles in the direction around the center of gravity axis of the aircraft. On the other hand, the outer surface has a shape that smoothly abuts the mechanical arm in the retracted state in the region adjacent to the first opening.

Preferably, the outer surface of the embodiment is further formed with a second opening for deploying and accommodating the leg support of the aircraft with respect to the outer shell. On the one hand, the plurality of first openings are distributed at equal angles in the direction around the center of gravity axis of the aircraft. On the other hand, the outer surface has a shape that smoothly abuts the leg support in the retracted state in the region adjacent to the second opening.

Preferably, the outer shell in the embodiment includes an upper cover, an engaging ring, a peripheral wall, and a lower cover in this order in the direction of the center of gravity axis of the aircraft, and the peripheral wall has an upper opening and a lower opening. The upper cover abuts the peripheral wall at the portion of the upper opening via the engaging ring, and the lower cover abuts the peripheral wall at the portion of the lower opening.

In one embodiment, the body of the aircraft includes the outer shell as described above and the body member housed in the cavity of the outer shell.

In one embodiment, the body of another aircraft includes the outer shell as described above, including the first opening, and the body member housed in the cavity of the outer shell.

Preferably, the body in the embodiment further comprises a first mounting mechanism located at the site of the first opening and allowing the angle of the mechanical arm with respect to the center of gravity axis of the aircraft to change. ..

More preferably, the main body member in the embodiment receives a first deployment signal for driving the mechanical arm to deploy and a first storage signal for accommodating the mechanical arm. Includes a first control member arranged to generate with respect to the mounting mechanism of the.

For example, the first control member is further arranged to generate the first deployment signal or the first containment signal based on the flight state of the aircraft. Also, for example, the first deployment signal is generated before the flight state of the aircraft is activated, and the first containment signal is generated after the flight state of the aircraft is stopped.

Preferably, the first opening in the embodiment penetrates the wall thickness of the outer shell, and the main body member has a skeleton that forms the first attachment mechanism at the portion of the first opening. Including.

In one embodiment, the body of another aircraft includes the outer shell as described above, including the second opening, and the body member housed in the cavity of the outer shell.

Preferably, the outer surface of the embodiment is further formed with a second opening for deploying and accommodating the leg support of the aircraft with respect to the outer shell, and the main body is the second. It further includes a second mounting mechanism that is located at the site of the opening and allows the angle of the leg support to change with respect to the center of gravity axis of the aircraft.

More preferably, the main body member in the embodiment receives a second deployment signal for driving the leg support to deploy and a second storage signal for accommodating the leg support. Includes a second control member arranged to generate for the second mounting mechanism.

For example, the second control member is further arranged to generate the second deployment signal or the second containment signal based on the flight altitude of the aircraft. Further, for example, the second storage signal is generated after the flight altitude of the aircraft becomes equal to or higher than the threshold altitude, and the second deployment signal is generated after the flight altitude of the aircraft becomes lower than the threshold altitude. Will be done.

Preferably, the second opening in the embodiment penetrates the wall thickness of the outer shell, and the main body member includes a skeleton that forms a second attachment mechanism at a portion of the second opening. ..

In one embodiment, the aircraft includes a body as described above.

In one embodiment, another aircraft includes a body including the outer shell as described above having the first opening and a mechanical arm.

Preferably, the machine arm in the embodiment is attached to the first mounting mechanism and, when the machine arm is housed, is at least partially housed in the first opening with the machine arm body. Includes a mechanical arm cover plate that is attached to one side of the mechanical arm body and that at least partially shields the first opening when the mechanical arm is housed. For example, the machine arm body is further arranged so as to be totally housed in the first opening when the machine arm is housed, and the machine arm cover plate is further housed in the machine arm. Is arranged so as to close the opening surface of the first opening when the robot is stored. Further, for example, the mechanical arm cover plate has a shape that smoothly abuts with the outer surface of the outer shell when closing the opening surface of the first opening.

In one embodiment, another aircraft includes a body including the outer shell as described above having the second opening and a leg support.

Preferably, the leg support in the embodiment is attached to the second mounting mechanism and, when the leg support is housed, is at least partially housed in the second opening. It includes a body body and a leg support cover plate that is attached to one side of the leg support body and at least partially shields the second opening when the leg support is housed. For example, the leg support body is further arranged to be totally housed in the second opening when the leg support is housed, and the leg support cover plate is further populated. It is arranged so as to close the opening surface of the second opening when the leg support is housed. Further, for example, the leg support cover plate has a shape that smoothly abuts with the outer surface of the outer shell when closing the opening surface of the second opening.

In one embodiment, the aircraft includes a body as described above and a leg support, the body further includes a pan head camera, and the leg support is such that the flight altitude of the aircraft is a threshold altitude. After the above, the pan head camera is arranged so as to avoid the shooting field of view.

Preferably, the outer shell in the embodiment includes a cover plate capable of opening and closing the pan head camera.

It is a structural schematic diagram at the time of storing an aircraft. It is a structural schematic diagram at the time of deployment of an aircraft. FIG. 1A is an exploded configuration diagram of an aircraft when it is stowed. It is a structural schematic view at the time of locally deploying an aircraft in the Example shown in FIGS. 1A and 1B. It is a structural schematic diagram which omits a part of the outer shell in FIG. It is a structural schematic diagram of the skeleton mechanism in the 1st Example. It is a structural schematic diagram of the 1st skeleton body in 1st Example. It is a three-dimensional structure of the second skeleton in the first embodiment. It is the upper surface structure of the second skeleton in the first embodiment. It is a lower surface structure of the second skeleton in the first embodiment. It is a three-dimensional structure of the third skeleton in the first embodiment. It is the upper surface structure of the third skeleton in the first embodiment. It is a lower surface structure of the third skeleton in the first embodiment. It is a structural schematic view after attaching the leg support drive mechanism to the frame mechanism in 1st Example. It is a three-dimensional structure of the fourth skeleton in the first embodiment. It is the upper surface structure of the 4th frame body in the 1st Example. It is the lower surface structure of the 4th frame body in the 1st Example. It is a structural sectional view of the mechanical arm lock release drive mechanism in 1st Example. It is a structural enlarged view of the region A in FIG. 10A. It is a turntable structure perspective view of the mechanical arm lock release drive mechanism in 1st Example. It is a bottom view of the turntable structure of the mechanical arm lock release drive mechanism in the 1st Example. It is a three-dimensional structure drawing of the engagement ring in 1st Example. It is a structural top view of the engagement ring in 1st Example. It is a three-dimensional structure drawing of the mechanical arm in 1st Example. It is sectional drawing of the mechanical arm in 1st Example. FIG. 16 is an enlarged view of the structure of region B in FIG. It is a structural drawing of the leg support drive mechanism of the aircraft in 1st Example. It is a structural drawing of the leg support of the aircraft in 1st Example. It is a structural schematic diagram of the skeleton mechanism in the 2nd Example. It is a structural schematic diagram of the 5th frame body in 2nd Example. It is a structural schematic diagram of the 6th skeleton body in 2nd Example. It is a structural schematic diagram of the 7th skeleton body in 2nd Example. It is a structural schematic diagram of the 8th frame body in 2nd Example. It is a structural schematic diagram of the aircraft which omits a part of the outer shell of the 2nd Example. It is a structural schematic diagram of the aircraft which omits a part of the outer shell of the 2nd Example. It is a structural schematic diagram of the main body which omits a part of the outer shell of the 2nd Example.

In order to further clarify the object, technical means and advantages of the present invention, the present invention will be described in more detail with reference to the drawings below with reference to examples.

With reference to FIGS. 1A and 1B and FIGS. 2 and 3, in one embodiment, the aircraft comprises an outer shell 2, which has a cavity 2a and an outer surface 2b. The cavity 2a has a space for at least accommodating the main body member of the aircraft. The outer surface 2b surrounds the cavity 2a, and the outer surface 2b is limited by a closed envelope surface. The limitation of the outer surface 2b by the closed envelope does not necessarily mean that the outer surface 2b is closed, and the envelope that limits the outer surface 2b is closed and to the outer surface 2b of the envelope. Due to the limitation of, the shape of the outer surface 2b matches the closing tendency of the envelope surface. That is, the outer surface 2b overlaps the envelope surface in whole or in part.

In FIGS. 1A, 1B and 2, the envelope surface limiting the outer surface 2b has an ellipsoidal smooth curved surface shape. However, it does not mean that other smooth curved surface shapes other than the ellipsoidal shape are excluded. For example, the smooth curved surface shape may be spherical and means that shapes other than the smooth curved surface are excluded. For example, the envelope surface limiting the outer surface 2b may have a multifaceted shape, and at least one surface of the multifaceted shape is a curved surface or a multifaceted surface. At least one surface of the shape is a flat surface.

Continuing with reference to FIGS. 1A and 1B and FIGS. 2 and 3, in this embodiment the aircraft further includes a mechanical arm 3 and a leg support 4 that are deployed or stowed relative to the outer shell 2.

In contrast to the situation in the embodiment in which the enveloping surface limiting the outer surface 2b has an ellipsoidal smooth curved surface shape, the major axis direction of the ellipsoid is the axis of the center of gravity of the aircraft (for example, the dotted axis Z in FIGS. 1A and 2). ), For example, the long axis of the ellipsoid overlaps the axis of the center of gravity of the aircraft, and the mounting position of the mechanical arm 3 is close to one end on the long axis direction of the ellipsoid, and the leg support 4 The mounting position is close to the other end of the ellipsoid in the long axis direction. As a result, the change in the angle formed by the deployment or storage of the mechanical arm 3 and the leg support 4 is based on the center of gravity axis, and the mounting positions of the mechanical arm 3 and the leg support 4 are respectively of the aircraft. It is close to both ends opposite to the center of gravity axis (the mounting position of the mechanical arm 3 is located above the dotted axis Z, and the mounting position of the leg support 4 is located below the dotted axis Z).

Further, the ellipsoidal portion close to the mounting position of the mechanical arm 3 has the first short axis length, and the ellipsoidal portion close to the mounting position of the leg support 4 has the second short axis. It has an axial length, and the first minor axis length is larger than the second minor axis length. That is, the outer surface 2b of the outer shell 2 limited by the ellipsoidal envelope has a shape in which the upper part is large and the lower part is small, the radian of the upper part is smaller than the radian of the lower part, and the tip of the shape is downward. It is an ellipsoid that goes. In this case, the distance that the center of gravity of the aircraft is related to the mounting position of the leg support 4 in the major axis direction of the ellipsoid is smaller than the distance that the center of gravity is related to the mounting position of the mechanical arm 3, thereby reducing the probability of cartwheeling of the aircraft.

Seen from FIGS. 1B and 2, the outer surface 2b of the outer shell 2 has a first opening 21 for deploying and storing the mechanical arm 3 with respect to the outer shell 2, and a leg support 4 in the outer shell 2. On the other hand, a second opening 22 for deploying and storing is formed.

In FIGS. 1A, 1B and 2, the first opening 21 and the second opening 22 are in the form of through holes penetrating the outer surface 2b of the outer shell 2. However, it does not mean that other opening types other than the through hole are excluded. For example, the first opening 21 and the second opening 22 may be in the form of a groove, and the first opening type of the groove type may be used. The opening 21 and the second opening 22 of 1 accommodate the mechanical arm 3 and the leg support 4 at least partially, while the first opening 21 and the second opening 22 of the through-hole type are the first openings. The mechanical arm 3 and the leg support 4 are completely housed in the cavity 2a of the outer shell 2 through the 21 and the second opening 22.

See further FIGS. 2 and 3 to more easily understand the changes in angle formed by the deployment and storage of the mechanical arm 3 and leg support 4.

The mechanical arm 3 is rotatably attached to a main body member located in the cavity 2a at the portion of the first opening 21, and the mechanical arm 3 expands from the first opening 21 to the outside of the outer surface 2b of the outer shell 2. It has a first degree of freedom that is either removed or housed in the cavity 2a of the outer shell 2. The leg support 4 is rotatably attached to the main body member located in the cavity 2a at the portion of the second opening 22, and the leg support 4 is rotatably attached to the outer surface 2b of the outer shell 2 from the second opening 22. Has a second degree of freedom that can be deployed or housed in the cavity 2a of the outer shell 2.

On the other hand, the outer surface 2b has a shape that smoothly abuts the mechanical arm 3 in the stored state in the region adjacent to the first opening 21, and the leg in the stored state in the region adjacent to the second opening 22. It has a shape that smoothly abuts with the support 4. The outer surface 2b forms an envelope surface that is closed when the machine arm 3 and the leg support 4 are in the retracted state due to a shape in which the mechanical arm 3 and the leg support 4 in the retracted state are smoothly abutted with each other.

Specifically, the machine arm 3 includes a machine arm body 31 and a machine arm cover plate 32, and the machine arm cover plate 32 faces the inside of the outer shell 2 of the machine arm body 31. The machine arm cover plate 32, which is fixedly attached to the side, closes the first opening 21 along the outer entanglement surface when the machine arm body 31 is housed in the outer shell 2. Has a shape.

The leg support 4 includes a leg support main body 41 and a leg support cover plate 42, and the leg support cover plate 42 faces the inside of the outer shell 2 of the leg support main body 41. The leg support cover plate 42, which is fixedly attached to the side, opens the second opening 22 along the outer entanglement surface when the leg support main body 41 is housed in the outer shell 2. It has a closed shape.

When the machine arm 3 and the leg support 4 are housed in the outer shell 2, the outer curved surface of the machine arm cover plate 32 and the outer curved surface of the leg support cover plate 42 are the outer surface 2b of the outer shell 2. They are butted to form a closed curved outer shell. The closed curved surface shape is an ellipsoidal shape, which achieves the effect of protecting the aircraft internal device, the mechanical arm, and the leg support when the aircraft is not used, and also provides the mechanical arm and the leg support. The stowed aircraft can be easily stored, saving space for the aircraft's storage, and such a shape can reduce the impact of the airflow on the aircraft in the lateral direction, thereby reducing the probability of lateral rollout.

On the other hand, the plurality of first openings 21 are distributed at equal angles in the direction around the center of gravity axis Z of the aircraft. On the other hand, the plurality of second openings 22 are distributed at equal angles in the direction around the center of gravity axis Z of the aircraft.

The number of the mechanical arm 3 and the first opening 21, the number of the leg support 4 and the number of the second opening 22, are all a plurality. The plurality of mechanical arms 3 and the plurality of leg supports 4 are alternately arranged in the direction around the center of gravity axis Z of the aircraft, and the plurality of first openings 21 and the plurality of second openings 22 are the aircraft. Alternately arranged in the direction around the center of gravity axis Z of. Further, the plurality of mechanical arms 3, the plurality of leg supports 4, the plurality of first openings 21, and the plurality of second openings 22 are all distributed at equal angles in the direction around the center of gravity axis Z of the aircraft. Further, the number of the mechanical arms 3 is the same as the number of the leg supports 4, and the number of the first openings 21 is the same as the number of the second openings 22. Further, in the embodiment, the number of the mechanical arm 3, the leg support 4, the first opening 21, and the second opening 22 is four.

Preferably, as shown in FIG. 1C, the outer shell 2 in the embodiment includes the upper cover 23, the engagement ring 24, the peripheral wall 25 and the lower cover 26 in this order in the direction of the center of gravity axis Z of the aircraft. The peripheral wall 25 has an upper opening and a lower opening, the upper cover 23 abuts the peripheral wall 25 at a portion of the upper opening via the engaging ring 24, and the lower cover 26 has the lower opening. The first opening 21 and the second opening 22 are opened in the peripheral wall 25 so as to abut against the peripheral wall 25.

In one embodiment, the body of the aircraft includes the outer shell 2 as described above and the body member housed in the cavity 2a of the outer shell 2. The outer shell 2 has a cavity 2a and an outer surface 2b. The cavity 2a has a space for at least accommodating the main body member of the aircraft. The outer surface 2b surrounds the cavity 2a, and the outer surface 2b is limited by a closed envelope surface. The limitation of the outer surface 2b by the closed envelope does not necessarily mean that the outer surface 2b is closed, and the envelope that limits the outer surface 2b is closed and to the outer surface 2b of the envelope. Due to the limitation of, the shape of the outer surface 2b matches the closing tendency of the envelope surface. That is, the outer surface 2b overlaps the envelope surface in whole or in part.

In one embodiment, the aircraft includes a body as described above.

In another embodiment, the body of another aircraft includes the outer shell 2 as described above, including the first opening 21, and the body member housed in the cavity 2a of the outer shell 2.

Preferably, the main body in the embodiment is located at the portion of the first opening 21 and allows the angle of the mechanical arm 3 with respect to the center of gravity axis z of the aircraft to change. Including further.

The first mounting mechanism gives the mechanical arm 3 a first degree of freedom that is deployed from the first opening 21 to the outside of the outer surface 2b of the outer shell 2 or housed in the cavity 2a of the outer shell 2. Get ready.

Further, the main body member in the embodiment receives a first deployment signal for driving the mechanical arm 3 to deploy and a first storage signal for accommodating the mechanical arm 3. Includes a first control member that is arranged to generate in the mounting mechanism of.

For example, the first control member is further arranged to generate the first deployment signal or the first containment signal based on the flight state of the aircraft. Also, for example, the first deployment signal is generated before the flight state of the aircraft is activated, and the first containment signal is generated after the flight state of the aircraft is stopped.

Preferably, the first opening 21 in the embodiment penetrates the wall thickness of the outer shell 2, and the main body member forms a first attachment mechanism at a portion of the first opening 21. Includes skeleton 10.

In one embodiment, another aircraft includes a body including the outer shell 2 as described above having the first opening 21 and a mechanical arm 3.

Preferably, the machine arm 3 in the embodiment is attached to the first mounting mechanism and, when the machine arm 3 is housed, is at least partially housed in the first opening 21. It includes an arm body 31 and a machine arm cover plate 32 that is attached to one side of the machine arm body 31 and at least partially shields the first opening 21 when the machine arm 3 is housed. For example, the machine arm body 31 is further arranged so as to be totally housed in the first opening 21 when the machine arm 3 is housed, and the machine arm cover plate 32 is the machine arm cover plate 32. When the mechanical arm 3 is housed, it is arranged so as to close the opening surface of the first opening 21. Further, for example, the mechanical arm cover plate 32 has a shape that smoothly abuts with the outer surface 2b of the outer shell 2 when the opening surface of the first opening 21 is closed.

In another embodiment, the body of another aircraft includes the outer shell 2 as described above, including the second opening 22, and the body member housed in the cavity 2a of the outer shell 2.

Preferably, the outer surface 2b in the embodiment is further formed with a second opening 22 for deploying and accommodating the leg support 4 of the aircraft with respect to the outer shell 2, and the main body is the first. It further includes a second mounting mechanism located at the site of the opening 22 of 2 and allowing the angle of the leg support 4 with respect to the center of gravity axis z of the aircraft to change.

The second mounting mechanism has a second degree of freedom in which the leg support 4 is deployed from the second opening 22 to the outside of the outer surface 2b of the outer shell 2 or is housed in the cavity 2a of the outer shell 2. To prepare.

Further, the main body member in the embodiment receives a second deployment signal that drives the leg support 4 to deploy, and a second storage signal that drives the leg support 4 to accommodate the leg support 4. Includes a second control member arranged to generate for the second mounting mechanism.

For example, the second control member is further arranged to generate the second deployment signal or the second containment signal based on the flight altitude of the aircraft. Further, for example, the second storage signal is generated after the flight altitude of the aircraft becomes equal to or higher than the threshold altitude, and the second deployment signal is generated after the flight altitude of the aircraft becomes lower than the threshold altitude. Will be done.

Preferably, the second opening 22 in the embodiment penetrates the wall thickness of the outer shell 2, and the main body member forms a second attachment mechanism at the portion of the second opening 22. Includes skeleton 10.

In one embodiment, another aircraft includes a body including the outer shell 2 as described above having the second opening 22 and a leg support 4.

Preferably, the leg support 4 in the embodiment is attached to the second mounting mechanism and is at least partially housed in the second opening 22 when the leg support 4 is housed. A leg support cover that is attached to one side of the leg support body 41 and the leg support body 41 and that at least partially shields the second opening 22 when the leg support 4 is housed. Includes plate 42 and. For example, the leg support main body 41 is further arranged so as to be totally accommodated in the second opening 22 when the leg support 4 is housed, and the leg support cover plate 42 is accommodated. Is arranged so as to close the opening surface of the second opening 22 when the leg support 4 is housed. Further, for example, the leg support cover plate 42 has a shape that smoothly abuts with the outer surface 2b of the outer shell 2 when the opening surface of the second opening 22 is closed.

In one embodiment, as shown in FIGS. 1A-1C, the aircraft includes a body as described above and a leg support 4, the body further including a pan head camera 6 and the leg support. The body 4 is arranged so as to avoid the shooting field of view of the pan head camera 6 after the flight altitude of the aircraft becomes equal to or higher than the threshold altitude.

Preferably, the outer shell 2 in the embodiment includes a cover plate 26 capable of opening and closing the pan head camera 6.

At the same time, with reference to FIGS. 1A, 1B, 2 and 3, in this embodiment, the body is composed of an outer shell 2 having a first opening 21 and / or a second opening 22 and an outer shell 2. Includes a main body member housed in the cavity 2a. Correspondingly, in that embodiment, the aircraft includes said body, mechanical arm 3 and / or leg support 4.

The body member may include at least the skeleton 10. In the embodiment, the main body member may further include a control member and a battery. The skeleton 10 may have a hollow structure and has an accommodating space for accommodating the control member and the battery, and both the battery and the control member are mounted in the accommodating space of the skeleton. Further, a motor 5 with a propeller 7 (not shown in FIG. 1B) is attached to the other end of the mechanical arm 31 away from the frame attachment end. The first control member is electrically connected to the motor 5 to control the rotation of the propeller 7. The battery supplies power to the first control member and the motor 5. When the mechanical arm body 31 is in the deployed state, the motor 5 drives the rotation of the propeller 7 downward to generate a downward thrust to drive the ascent and flight of the aircraft.

FIG. 4 shows the structure of the skeleton 10 used in the first embodiment of the aircraft. The skeleton 10 includes a first skeleton body 11, a second skeleton body 12, a third skeleton body 13 and a fourth skeleton body 14, and the first skeleton body 11, the second skeleton body 12, and the like. The third skeleton 13 and the fourth skeleton 14 together form the skeleton 10.

FIG. 5 shows a schematic structure diagram of the first skeleton body 11 in the skeleton 10. As shown in FIG. 5, the first skeleton 11 has a hollow cavity 111 and a side wall 112 surrounding the hollow cavity 111, and the first mounting mechanism is formed on the side wall 112. The first mounting mechanism includes a machine arm mounting base 113 and a machine arm base 33 that are close to the upper surface of the first skeleton 11. The mechanical arm mounting base 113 includes a plurality of first protruding blocks 1131 formed on the side wall 112 of the first skeleton 11, and fixes the mechanical arm base 33 to the first protruding block 1131. The first mounting hole 1132 is formed, and the machine arm base 33 is fixed to the machine arm mounting base 113 by a fixing member formed in the first mounting hole 1132, and further, the machine arm base 33 is further formed. Is attached to the skeleton mechanism of the aircraft by the mechanical arm attachment base 113. A machine arm mounting hole is opened in the machine arm base 33, and the machine arm main body 31 is attached to the machine arm base 33 by the machine arm mounting hole and is deployed around the axis of the machine arm mounting hole.・ Stored. As a matter of explanation, FIG. 5 shows the mechanical arm mounting base 113 of one of the side walls 112, the first protruding block 1131 and the first mounting hole 1132 by reference only, and the other side wall 112 has the same structure. Have. In the above embodiment, the fixing site is, for example, a bolt or a rivet.

Continuing with reference to FIG. 5, the main body of the first skeleton 11 is a hollow oblong cylinder formed by being surrounded by a plurality of side walls 112, and the widths of the plurality of side walls 112 are the same. The cross section of the main body of the first skeleton 11 is a regular polyhedron. The upper surface of the first skeleton 11 is also another outer shell attachment point (where the lower cover 26 of the outer shell 2 and the lower part of the peripheral wall 25 can be attached) other than the outer shell attachment base 141 of the fourth skeleton 14. The engagement ring 24 of the outer shell 2 and the upper part of the peripheral wall 25 can be attached). The side wall 112 of the first skeleton 11 has an openwork structure, and the weight of the first skeleton 11 can be further reduced.

Continuing with reference to FIG. 4, the second skeleton 12 is connected to the lower surface of the first skeleton 11 and covers the opening of the hollow cavity 111 on the lower surface of the first skeleton 11.

FIG. 6A shows the three-dimensional structure of the second skeleton body 12, FIG. 6B shows the upper surface structure of the second skeleton body 12, and FIG. 6C shows the lower surface structure of the second skeleton body 12. As shown in FIGS. 6A, 6B, and 6C, and with reference to FIG. 5, the second skeleton 12 includes an upper surface facing the first skeleton 11 and the first skeleton 11. It has a back-facing lower surface. The upper surface of the second skeleton 12 is fixed to the lower surface of the first skeleton 11. A plurality of side walls 112 of the first skeleton 11 and the second skeleton 12 surround the first skeleton 11 to form a housing cavity for an aircraft electric control device. The lower surface of the second skeleton 12 has a plurality of protruding columns 122.

As shown in FIGS. 5, 6A and 6B, a plurality of second protruding blocks 114 which are flush with the lower surface of the first skeleton 11 are formed on the side wall 112 of the first skeleton 11. A second mounting hole 115 is formed on the surface of the second protruding block 114 which is flush with the lower surface of the first skeleton 11, and the upper surface of the second skeleton 12 is the second mounting. The second skeleton body 12 has a third mounting hole 121 corresponding to the hole 115, and the second skeleton body 12 is formed by a first connecting member formed in the second mounting hole 115 and the third mounting hole 121. , Connected to the lower surface of the first skeleton 11.

Subsequently, referring to FIG. 4, the third skeleton 13 is connected to the lower surface of the second skeleton 12, and a second attachment mechanism is formed on the side edge of the third skeleton 13. The second mounting mechanism may include a leg support mounting base 131 formed on the side edge of the third skeleton 13. 7A shows the three-dimensional structure of the third skeleton 13, FIG. 7B shows the upper surface structure of the third skeleton 13, and FIG. 7C shows the lower surface structure of the third skeleton 13. The upper surface of the third skeleton 13 has a sleeve 133 capable of accommodating the protruding column 122, and the third skeleton 13 has a second connecting member for fixing the protruding column 122 in the sleeve 133. The second skeleton body 12 is connected to the lower surface of the second skeleton body 12, that is, the protruding column 122 is fixed in the sleeve 133 by using the second connecting member, and the third skeleton body 13 is fixed to the second frame body 13. It connects to the lower surface of the skeleton 12.

As shown in FIGS. 7A and 7B, the leg support 131 has a recess 1311 formed on the side edge of the third skeleton 13, and a leg support body 42 and a leg support drive formed in the recess 1311. Includes a mounting column 1312 for fixing the mechanism 43. FIG. 8 shows a skeleton mechanism structure to which the leg support drive mechanism 43 is attached.

In the embodiment, the protruding column 122 and the sleeve 133 both have a high altitude, so that the third skeleton 13 is connected to the second skeleton 112, and then the third skeleton A large space is reserved between the 13 and the second skeleton 112 to realize the attachment of the leg support drive mechanism 43.

Subsequently, referring to FIG. 4, the fourth skeleton 14 is connected to the lower surface of the third skeleton 13, and the outer shell mounting base 141 is formed on the side edge of the fourth skeleton 14. The outer shell mounting base 141 is used to mount the lower cover 26 of the outer shell 2 and the lower part of the peripheral wall 25, and the number of outer shell mounting bases 141 is, for example, four, and the distribution is, for example, an ellipsoid of an aircraft. It is distributed at equal angles in the direction around the long axis of the body. 9A shows the three-dimensional structure of the fourth skeleton 14, FIG. 9B shows the upper surface structure of the fourth skeleton 14, and FIG. 9C shows the lower surface structure of the fourth skeleton 14.

As shown in FIGS. 7C, 9A, 9B, and 9C, a pan head camera mounting base 132 is further formed on the lower surface of the third skeleton 13, and the pan head 14 is further formed on the fourth skeleton 14. An opening region 142 that exposes the camera mounting base 132 is further formed. As shown in FIGS. 7C and 9B, the lower surface of the third skeleton 13 has protrusions 134, and the upper surface of the fourth skeleton 14 has a fourth mounting hole 143 corresponding to the protrusions 134. The fourth skeleton 14 is formed on the lower surface of the third skeleton 13 by a third connecting member bored in the fourth mounting hole 143 and fixed to the protrusion 134. Be connected.

In the embodiment, the number of the side wall 112, the number of the mechanical arm mounting base 113, the number of the leg support mounting base 131, the number of the outer shell mounting base 141 are equal, and the number of the side wall 112 is further equal. Is 4, the number of the mechanical arm mounting bases 113 is 4, the number of the leg support mounting bases 131 is 4, and the number of the outer shell mounting bases 141 is 4. Is.

The structure of the skeleton mechanism used in the aircraft realizes the alignment of the mechanical arm, leg support, aircraft control members and the aircraft outer shell, forming one unified whole, and the skeleton mechanism further controls in the aircraft. When the mechanical arm and leg support are housed in the outer shell while providing protection against the members, the space occupied by the aircraft is reduced in close proximity to the skeleton mechanism, and when the aircraft is not used, the occupied space is created. Make the contracted aircraft avoid breakage of the mechanical arm and leg support due to, for example, an accident.

The first mounting mechanism further includes a mechanical arm lock mechanism and a mechanical arm lock release drive mechanism. 10A shows a structural cross-sectional view of the mechanical arm unlocking drive mechanism, FIG. 10B shows the structure of the region A in FIG. 10A, and the cross-sectional view shows the deployed state of the mechanical arm 3. As shown in FIGS. 10A and 10B, the machine arm 3 including the machine arm body 31 further includes a machine arm lock mechanism 34, and the machine arm lock mechanism 34 is the machine when the machine arm body 31 is deployed. The arm body 31 has a degree of freedom of expansion and contraction for locking and unlocking. The solid line mechanical arm lock mechanism 34 in FIGS. 10A and 10B shows a state when the mechanical arm lock mechanism 34 extends to lock the machine arm main body 31, and the broken line mechanical arm lock mechanism 34 is the mechanical arm lock mechanism 34. Indicates a state in which the machine arm body 31 is retracted to unlock the machine arm body 31.

As shown in FIGS. 10A and 10B, the mechanical arm lock release drive mechanism 35 includes a tension buckle 351 and a turntable 352. FIG. 11 shows the three-dimensional shape of the turntable 352, and FIG. 12 shows the lower surface structure of the turntable 352. In the mechanical arm lock release drive mechanism 35, the tension buckle 351 protrudes from the mechanical arm lock mechanism 34. The turntable 352 is located on one side of the mechanical armlock mechanism 34 forming the tension buckle 351 and the surface of the turntable 352 toward the mechanical armlock mechanism 34 comes into contact with the tension buckle 351. It has a flange 3521. The mechanical arm lock mechanism 34 expands and contracts along the radial direction of the turntable 352 (shown in the direction of the arrow in FIG. 10B), and the flange 3521 has a radius of curvature that changes monotonically in the rotation direction of the turntable 352. By adjusting the extension (shown in FIGS. 11 and 12) and the position of the tension buckle 351 in the radial direction, the machine arm lock mechanism 34 is driven to unlock the machine arm body 31.

At the same time, referring to FIGS. 4, 5, 10A and 10B, the mechanical arm lock mechanism 34 is attached to the mechanical arm base 33.

As shown in FIGS. 10A and 10B, the mechanical arm lock mechanism 34 receives a repositioning elasticity in the radial direction, and the repositioning elasticity moves the mechanical arm lock mechanism 34 to a position where the mechanical arm body 31 is locked. The flange 3521 comes into contact with the tension buckle 351 on one side that resists the repositioning elasticity. Further, the direction of the repositioning elasticity is directed to the outside of the outer shell 2 of the aircraft, and the flange 3521 comes into contact with the tension buckle 351 on one side of the tension buckle 351 close to the outside of the outer shell 2. The repositioning elasticity is realized by applying it to the mechanical arm lock mechanism 34 by the spring provided in the radial direction. As described above with respect to the aircraft and shown in FIGS. 1A, 1B and 2, the aircraft further includes an outer shell 2, wherein the mechanical arm body 31 is outside the outer shell 2. It has a first opening 21 for swinging deployment or being housed within the outer shell 2. The outer shell 2 includes a peripheral wall 25 and an upper cover 23 that rotates with respect to the peripheral wall 25, the first opening 21 is opened in the peripheral wall 25, and the mechanical armlock mechanism 34 is the first. It is fixed at a position corresponding to the opening 21 of 1, and the turntable 352 is fixed in the upper cover 23. In one specific embodiment, the turntable 352 can be fixed to the upper cover 23, and the turntable 352 can be rotated by rotating the upper cover 23.

FIG. 13 shows the three-dimensional structure of the engaging ring 24, and FIG. 14 shows the upper surface structure of the engaging ring 24. At the same time, referring to FIGS. 1A and 2, the upper cover 23 is fixed to the upper cover 23 by the engaging ring 24 so that the upper cover 23 abuts the peripheral wall 25 at the portion of the upper opening. The 3521 penetrates the engagement ring 24 and comes into contact with the tension buckle 351. In this embodiment, a limiting port 241 is provided in the engaging ring 24, the flange 3521 penetrates the limiting port 241 to limit excessive rotation of the turntable 352, and the pull buckle 351 is detached from the flange 3521. Guarantee no.

In the mechanical arm unlocking drive mechanism of the embodiment, when a flange extending with a radius of curvature that changes monotonically in the rotation direction of the turntable is provided, and the flange comes into contact with the tension buckle to rotate the turntable, Due to the monotonously changing radius of curvature of the flange in the direction of rotation of the turntable, the flange pushes the tension buckle, which drives the movement of the mechanical arm locking mechanism, thereby unlocking the mechanical arm. Realize. The mechanical arm unlocking drive mechanism of the embodiment has a simple structure and can be combined with the structure of the entire ellipsoidal aircraft, and the mechanical arm can be unlocked only by the upper cover. ..

FIG. 15 shows the structure of the mechanical arm main body 31 of the aircraft 1. As shown in FIG. 15, in the embodiment, the width of the mechanical arm main body 31 attached to the root 37 of the skeleton 1 of the aircraft is the width of the mechanical arm. Less than the width of the free end 36 of 31, such a design has the effect that, on the one hand, the width of the opening groove of the outer shell 2 can be reduced and, on the other hand, the lines are beautiful. In the embodiment, the free end 36 is wide because it is necessary to reserve the mounting space of the motor 5 in advance in order to mount the motor 5 on the portion of the free end 36. Due to the influence of the weight of the motor 5, after the motor 5 is attached, the deployed mechanical arm body 31 generates a large stress at its root 37. Therefore, as shown in the schematic cross-sectional view of the mechanical arm of FIG. 16, in the embodiment, the reinforcing sheet 28 is attached to the root 37 of the mechanical arm main body 31.

FIG. 17 is an enlarged view of the structure of the region B in FIG. 16, and as shown in FIG. 17, the reinforcing sheets 38 are perpendicular to each other and integrally formed with the first reinforcing wall 381 and the second reinforcing sheet 38. Includes a reinforcing wall 382. The first reinforcing wall 381 is provided on one side of the second reinforcing wall 382 that is separated from the free end 36 of the machine arm main body 31, and the first reinforcing wall 381 and the second reinforcing wall 382 are attached to each other. It is vertical. In addition, a groove is opened in the second reinforcing wall 382. The mechanical arm cover plate 32 is locked to the groove by a locking hook 311 and fixed to the mechanical arm main body 31.

At the same time, referring to FIGS. 2, 3, 4, 15, 16 and 17, the root 37 of the machine arm body 31 is attached to the skeleton mechanism of the aircraft by the machine arm base 33. A machine arm mounting hole is formed in the machine arm base 33, and the machine arm main body 31 is attached to the machine arm base 33 by the machine arm mounting hole and is about the axis of the machine arm mounting hole. It is deployed and stored as.

By attaching a reinforcing sheet to the base of the machine arm, the machine arm of the aircraft increases the buckling resistance ability of the base of the machine arm, so that when the machine arm receives high stress, the base of the machine arm is not damaged. Since the first reinforcing wall and the second reinforcing wall are perpendicular to each other, the reinforcing action given to the base of the machine arm is maximized, and by opening the groove, the machine arm cover plate 32 is attached at the base of the machine arm. To facilitate.

The second mounting mechanism further includes a leg support drive mechanism. FIG. 18 shows an aircraft leg support drive mechanism. The leg support drive mechanism 43 includes an actuator 431 and a gear pair 432. The actuator 431 is fixed to the skeleton 10 of the aircraft by the leg support mounting base 131. The gear pair 432 is attached between the axle of the actuator 431 and the leg support rotating shaft 44 of the aircraft, and the action of the actuator 431 controls the deployment and storage of the leg support main body 41.

The gear pair 432 includes a first drive gear 4321 and a second drive gear 4322. The first drive gear 4321 is attached to the axle of the actuator 431 and rotates with the rotation of the axle of the actuator 431. The second drive gear 4322 is attached to the rotating shaft 44 of the leg support of the aircraft, and the second drive gear 4322 meshes with the first drive gear 4321, and the first drive gear 4321 When rotating, the second drive gear 4322 is driven to rotate to control the deployment and storage of the leg support main body 41.

FIG. 19 is a schematic structural view of the leg support main body 41. As shown in FIGS. 19 and 18, a limiting surface 441 is provided on the leg support rotating shaft 44 of the aircraft, and the second drive gear 4322 is formed. By limiting the relative rotation of the aircraft with the leg support rotation shaft 44 by the limiting surface 441, the leg support main body 41 expands with the rotation of the second drive gear 4322.・ Stored.

With reference to FIGS. 7A and 7B, the leg support mounting base 131 includes a mounting column 1312 for fixing the leg support main body 41 and the leg support driving mechanism 43. The actuator 431 is fixed to the mounting column 1312. The leg support rotating shaft 44 of the aircraft is attached to the mounting column 1312 by the leg support rotating shaft mounting member.

In the leg support drive mechanism of an aircraft, when the rotation of the actuator is stopped, the position where the rotation axis is located does not change, so that the deployment and storage angles of the leg support are fixed. When the transmission is used to provide precise control over the deployment and storage of the leg support and stop the rotation of the actuator, the actuator is affected when the leg support of the aircraft is subject to a certain external force. , Guarantee not to force deployment and storage.

FIG. 20 shows the structure of the skeleton 10'used in the second embodiment of the aircraft. The skeleton 10'includes a fifth skeleton 15, a sixth skeleton 16, a seventh skeleton 17, and an eighth skeleton 18. The fifth skeleton 15, the sixth skeleton 16, the seventh skeleton 17, and the eighth skeleton 18 all constitute the skeleton 10'.

FIG. 21 shows a schematic structure diagram of the fifth skeleton body 15 in the skeleton 10'. As shown in FIG. 21, the fifth skeleton 15 has a hollow cavity 151 and a side wall 152 surrounding the hollow cavity 151, and as shown in FIG. 25, a mechanical arm is provided on the outer surface of the side wall 152. The first mounting mechanism 153 for mounting 3 is formed. The first mounting mechanism 153 uses the structure shown in the first embodiment, or uses any other structure that allows the mechanical arm 3 to have a first degree of freedom.

The main body of the fifth skeleton 15 is a hollow oblong cylinder formed by being surrounded by a plurality of side walls 152, and the widths of the plurality of side walls 152 are the same, so that the fifth skeleton 15 is formed. The cross section of the body of is a regular polyhedron. The upper surface of the fifth skeleton 15 is also another outer shell attachment point (where the lower cover 26 of the outer shell 2 and the lower part of the peripheral wall 25 can be attached) other than the outer shell attachment base 181 of the eighth skeleton 18. The engagement ring 24 of the outer shell 2 and the upper part of the peripheral wall 25 can be attached).

Continuing with reference to FIG. 20, the sixth skeleton 16 is connected to the lower part of the fifth skeleton 15, and the sixth skeleton 16 also has a hollow cavity structure formed by surrounding the side wall. The side wall of the sixth skeleton 16 is connected to the lower part of the side wall 152 of the fifth skeleton 15 by a fastening member.

FIG. 22 shows a schematic structure diagram of the sixth skeleton body 16 in the skeleton 10'. As shown in FIG. 22, the sixth skeleton 16 has a hollow cavity 161 and has a side wall 162 that surrounds the hollow cavity 161 and a lower plate that covers the lower surface of the hollow cavity 161. The lower plate 163 can be connected to the lower surface of the hollow cavity 161 by a fastening member to cover the lower surface of the hollow cavity 161. The outer surface of the side wall 162 has a plurality of mounting bases or mounting holes for mounting the first control member and / or the second control member 166 of the main body portion. The surface of the lower plate 163 toward the hollow cavity 161 is also used to attach the first control member and / or the second control member 166 of the main body portion.

The cross section of the main body of the sixth skeleton 16 forms the same shape as the cross section of the main body of the fifth skeleton 15. The upper edge of the side wall 162 is connected to the lower part of the side wall 152 of the fifth frame body 15 by the fastening member 164, and the lower edge thereof is connected to the eighth frame body 18 by the protrusion 165.

FIG. 23 shows a schematic structure diagram of the seventh skeleton body 17 in the skeleton 10'. As shown in FIG. 23, the seventh skeleton 17 has a box-shaped structure surrounded by the side wall 171 and the upper portion of the outer surface of the side wall 171 is a snap fit that is locked to the fifth skeleton 15. It has 172. The upper part of the seventh skeleton 17 extends from the lower part of the fifth skeleton 15 into the hollow cavity 151 of the fifth skeleton 15, and the snap fit 172 on the side wall 171 extends the fifth skeleton. It is fixedly connected to the side wall 152 of 15. On the side wall 152 of the fifth skeleton 15, there is a locking port 154 connected to the snap fit 172.

The seventh skeleton 17 is used for mounting the battery 173 of the main body portion. The upper part extends into the hollow cavity 151 of the fifth skeleton 15, but the other parts are all mounted in the hollow cavity 161 of the sixth skeleton 16 and of the sixth skeleton 16. Since the periphery and the lower portion of the hollow cavity 161 are both covered by the side wall 162 and the lower plate 163, the battery in the seventh skeleton 17 located in the hollow cavity 161 is provided with a good protective effect.

FIG. 24 shows a schematic structure diagram of the eighth skeleton 18 in the skeleton 10'. As shown in FIG. 24, the eighth skeleton 18 has a pan head camera mounting base 182 and an outer shell mounting base 181 formed around the pan head camera mounting base 182. As shown in FIGS. 20, 22 and 24, the lower surface of the sixth skeleton 16 has a protrusion 165, and the upper surface of the eighth skeleton 18 has an eighth mounting hole corresponding to the protrusion 165. The eighth skeleton 18 having 183 is connected to the lower surface of the sixth skeleton 16 by a connecting member which is bored in the eighth mounting hole 183 and fixed to the protrusion 165. To.

Further, the outer shell mounting base 181 of the eighth frame body 18 may further have a plurality of mounting bases or mounting holes for mounting the first control member and / or the second control member 166 of the main body portion. ..

As shown in FIGS. 24, 25, 26 and 27, a second mounting mechanism 184 for mounting the leg support 4 is further mounted on the edge of the pan head camera mounting base 182. The second mounting mechanism may use the structure shown in the first embodiment described above, or any other structure that allows the leg support 4 to have a second degree of freedom.

The above description is merely a preferred embodiment of the present invention, and is not intended to limit the present invention. All modifications, equivalent substitutions, improvements, etc. made within the gist and principle of the present invention are all the present invention. Should be included within the scope of protection of.

Claims (9)

It has an outer shell and an aircraft body member housed in the outer shell.
The outer shell has a cavity and an outer surface.
A first opening for deploying and accommodating the mechanical arm of the aircraft with respect to the outer shell is formed on the outer surface, and the main body member is located at the portion of the first opening and said. Includes a first mounting mechanism that allows the angle of the mechanical arm with respect to the center of gravity axis of the aircraft to change.
The main body member generates a first deployment signal for driving the mechanical arm to deploy and a first storage signal for accommodating the mechanical arm with respect to the first mounting mechanism. The first control member includes the first control member arranged in such a manner, and the first control member further generates the first deployment signal or the first storage signal based on the flight state of the aircraft. An aircraft characterized by being placed. The aircraft according to claim 1, wherein the outer shell is ellipsoidal or spherical. The aircraft also has a mechanical arm
The aircraft according to claim 1, wherein the mounting positions of the mechanical arms are distributed around the axis of the center of gravity of the aircraft. The first opening penetrates the outer surface of the outer shell and
The first opening is plural,
The aircraft according to claim 1, wherein the plurality of first openings are distributed at equal angles around the aircraft. The mechanical arm
A machine arm body that is attached to the first mounting mechanism and is at least partially housed in the first opening when the machine arm is housed.
The first aspect of claim 1, wherein the machine arm is attached to one side of the main body of the machine arm and includes a machine arm cover plate that at least partially shields the first opening when the machine arm is housed. Aircraft. The outer shell has a cavity and an outer surface.
A second opening for deploying and storing the leg support of the aircraft with respect to the outer shell is formed on the outer surface, and the main body member is located at the portion of the second opening. The aircraft according to claim 1, further comprising a second mounting mechanism that allows the angle of the leg support to change with respect to the axis of gravity of the aircraft. The second opening penetrates the outer surface of the outer shell and
The second opening is plural,
The aircraft according to claim 6, wherein the plurality of second openings are distributed at equal angles around the aircraft. The main body member sends a second deployment signal for driving the leg support to deploy and a second storage signal for housing the leg support with respect to the second mounting mechanism. The second control member includes a second control member arranged to generate, and the second control member further generates the second deployment signal or the second containment signal based on the flight altitude of the aircraft. The aircraft according to claim 6, wherein the aircraft is arranged in such a manner. The leg support
A leg support body that is attached to the second mounting mechanism and is at least partially housed in the second opening when the leg support is housed.
A claim comprising a leg support cover plate that is attached to one side of the leg support body and that at least partially shields the second opening when the leg support is housed. The aircraft according to 6.

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